function new_row = insert_open(xval, yval, parent_xval, parent_yval, hn, gn, fn)
    %% Function to Populate the OPEN LIST

    % OPEN LIST FORMAT
    %--------------------------------------------------------------------------------------
    % | IS ON LIST 1/0 | X val | Y val | Parent X val | Parent Y val | h(n) | g(n) | f(n) |
    %--------------------------------------------------------------------------------------
    new_row = zeros(1, 8);
    new_row(1, 1) = 1;
    new_row(1, 2) = xval;
    new_row(1, 3) = yval;
    new_row(1, 4) = parent_xval;
    new_row(1, 5) = parent_yval;
    new_row(1, 6) = hn;
    new_row(1, 7) = gn;
    new_row(1, 8) = fn;

end
